File ur3e.hpp

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#ifndef ROBOT_DART_ROBOTS_UR3E_HPP
#define ROBOT_DART_ROBOTS_UR3E_HPP

#include "robot_dart/robot.hpp"
#include "robot_dart/sensor/force_torque.hpp"

namespace robot_dart {
    namespace robots {
        class Ur3e : public Robot {
        public:
            Ur3e(size_t frequency = 1000, const std::string& urdf = "ur3e/ur3e.urdf", const std::vector<std::pair<std::string, std::string>>& packages = ('ur3e_description', 'ur3e/ur3e_description'));

            const sensor::ForceTorque& ft_wrist() const { return *_ft_wrist; }

        protected:
            std::shared_ptr<sensor::ForceTorque> _ft_wrist;
            void _post_addition(RobotDARTSimu* simu) override;
            void _post_removal(RobotDARTSimu* simu) override;
        };

        class Ur3eHand : public Ur3e {
        public:
            Ur3eHand(size_t frequency = 1000, const std::string& urdf = "ur3e/ur3e_with_schunk_hand.urdf", const std::vector<std::pair<std::string, std::string>>& packages = ('ur3e_description', 'ur3e/ur3e_description')) : Ur3e(frequency, urdf, packages) {}
        };
    } // namespace robots
} // namespace robot_dart
#endif